Reset control method and device of automatic guided vehicle, electronic equipment and storage medium

Abstract

The invention discloses a reset control method and device of an automatic guided vehicle, electronic equipment and a storage medium, and belongs to the field of navigation and control. In the running process of the automatic guided vehicle, based on detection data of the laser sensor and the odometer, fusion algorithm feature parameters are obtained through a fusion algorithm, and state parameters of the protection part are obtained; determining and executing a matched fault recovery strategy under the condition of determining a fault state according to the fusion algorithm parameters and the state parameters; after the repair strategy is executed, a reset verification process is executed; and after resetting, clearing a fault state. The fault processing time is shortened through self-adaptive processing of the fault, it is ensured that operation can be safely and stably recovered after the fault is removed through reset verification, the repeated fault rate is reduced, the contradiction that the operation efficiency and the system safety are difficult to consider when a traditional automatic guided vehicle processes the fault is solved, and the fault processing efficiency is improved. And the overall stability and high efficiency of the automatic guided vehicle system are ensured.

Description

Technical Field

[0001] This invention belongs to the field of navigation and control, and specifically relates to a reset control method for an automated guided vehicle, a reset control device for an automated guided vehicle, an electronic device, and a computer-readable storage medium. Background Technology

[0002] In practical applications of laser- and odometer-based hybrid navigation AGVs, fault diagnosis in traditional automated guided vehicles (AGVs) is fragmented. The navigation system only reports navigation errors, and the safety system only reports safety alarms, leading to inaccurate root cause location of faults. Traditional AGVs often employ a "one-size-fits-all" emergency stop strategy for faults of varying severity; for example, minor positioning drift and severe path deviation can both cause a complete production halt, severely sacrificing efficiency. Traditional resets may only check status parameters (such as removing obstacles) and immediately resume operation, but if the inherent faults in the navigation system (such as inaccurate positioning) are not repaired, the AGV will quickly fail again, forming a vicious cycle of "fault-reset-fault," resulting in poor reliability. Laser- and odometer-based hybrid navigation AGVs, when experiencing operational faults, cannot achieve intelligent fault handling and safe and reliable reset recovery, making it impossible to balance operational efficiency and system safety. Summary of the Invention

[0003] The purpose of this invention is to provide a reset control method for automated guided vehicles (AGVs), an AGV reset control device, electronic equipment, and a corresponding computer-readable storage medium. This can solve the problem that when a laser-based odometer-based composite navigation AGV experiences an operational malfunction, it cannot achieve intelligent fault handling and safe and reliable reset recovery, and that operational efficiency and system safety cannot be balanced.

[0004] To solve the above-mentioned technical problems, the present invention is implemented as follows: In a first aspect, embodiments of the present invention provide a reset control method for an automated guided vehicle (AGV), the AGV including a laser sensor, an odometer, and protective components, the method comprising: During the operation of the automated guided vehicle, based on the detection data from the laser sensor and the odometer, the fusion algorithm characteristic parameters are obtained through a fusion algorithm, and the status parameters of the protective components are acquired. If a fault state is determined based on the fusion algorithm parameters and the state parameters, a matching fault repair strategy is determined and executed. After the fault repair strategy is completed, a reset verification process is executed. After the reset verification process is completed, the fault status of the automated guided vehicle is cleared.

[0005] Optionally, determining and executing a matching fault repair strategy when a fault state is determined based on the fusion algorithm parameters and the state parameters includes: The fault level of the fault state is determined based on the fusion algorithm parameters and the state parameters. Based on the fault level of the fault state, a matching fault repair strategy is determined and executed.

[0006] Optionally, the fusion algorithm parameters include local fusion bias, global fusion total residual, odometer constraint residual, and closed-loop matching score; the state parameters include trigger state parameters, used to characterize whether the protective component is triggered. Determining the fault level of the fault state based on the fusion algorithm parameters and the state parameters includes: If the local fusion deviation is greater than the first deviation threshold for a duration exceeding the first time threshold, and the total global fusion residual is greater than the first residual threshold, or the protective component is triggered, then the fault level is determined to be high level. If the local fusion deviation is less than or equal to the second deviation threshold and the odometer constraint residual is within the odometer residual threshold range, then the fault level is determined to be low; wherein the first deviation threshold is greater than the second deviation threshold. If the local fusion deviation value is greater than the second deviation threshold and less than or equal to the first deviation threshold, or the closed-loop matching score is within the matching score threshold range, the fault level is determined to be medium level.

[0007] Optionally, determining and executing a matching fault repair strategy based on the fault level of the fault state includes: When the fault level is determined to be high, a matching first repair strategy is determined and executed; the first repair strategy is to control the automated guided vehicle to perform an emergency stop operation and generate a first-level alarm message. When the fault level is determined to be low, a matching second repair strategy is determined and executed; the second repair strategy is to maintain the operation of the automated guided vehicle, only display abnormal information in the status list, and perform parameter self-calibration when the automated guided vehicle is idle; When the fault level is determined to be medium, a matching third repair strategy is determined and executed; the third repair strategy is to control the automated guided vehicle to decelerate and start a timed warning. If the vehicle recovers through automatic adjustment within a second time threshold, the warning is canceled; otherwise, the warning is escalated.

[0008] Optionally, before determining and executing a matching fault repair strategy, the following steps are also included: Based on the characteristic parameters of the fusion algorithm, the state of the fusion algorithm is determined; and the condition of the roadblock is determined. Based on the state of the fusion algorithm and / or the roadblock situation, execute the corresponding adaptive response strategy.

[0009] Optionally, the fusion algorithm status includes normal fusion, local fusion deviation, and fusion anomaly; the obstacle status includes whether or not an obstacle has been encountered. The step of executing a corresponding adaptive response strategy based on the fusion algorithm state and / or obstacle status includes: When the fusion algorithm is in a normal fusion state and the roadblock condition is an obstacle encountered, the corresponding first adaptive response strategy is executed; the first adaptive response strategy is to control the automated guided vehicle to perform an emergency stop operation. When the fusion algorithm is in a state of local fusion deviation and the obstacle is in a state of no obstacle, the corresponding second adaptive response strategy is executed; the second adaptive response strategy is to automatically adjust the scanning frequency of the laser sensor, control the deceleration of the automated guided vehicle, and adjust the fusion algorithm. When the fusion algorithm is in a fusion abnormality state and the obstacle condition is obstacle-free, the corresponding third adaptive response strategy is executed; the third adaptive response strategy is to load backup parameters and restart the fusion algorithm according to the backup parameters.

[0010] Optionally, the reset verification process includes sequential security verification and fusion verification; After the fault repair strategy is executed, a reset verification process is performed, including: After the fault repair strategy is completed, the safety verification process is executed; the safety verification process is used to verify whether the physical environment of the automated guided vehicle is safe. After executing the security verification process, the fusion verification process is executed; the fusion verification is used to verify whether the fusion accuracy of the fusion algorithm is accurate.

[0011] Optionally, before obtaining the fusion algorithm feature parameters through the fusion algorithm and acquiring the state parameters of the protective component, the method further includes: Acquire standard coordinate points and standard odometer data; Based on the coordinates of the standard coordinate points, odometer data, and the fusion algorithm, the estimated coordinate points are determined; Based on the estimated coordinate points and standard coordinate points, determine the local fusion deviation; If the local fusion deviation is less than or equal to the standard deviation threshold, the self-test of the automated guided vehicle is determined to be complete.

[0012] Secondly, embodiments of the present invention provide a device for resetting an automated guided vehicle (AGV), the AGV including a laser sensor, an odometer, and protective components, the device comprising: The parameter acquisition module is used to obtain fusion algorithm feature parameters and the status parameters of the protective components based on the detection data of the laser sensor and the odometer during the operation of the automated guided vehicle. The repair strategy execution module is used to determine and execute a matching fault repair strategy when a fault state is determined based on the fusion algorithm parameters and the state parameters. The verification process execution module is used to execute the reset verification process after the fault repair strategy is completed; The fault status clearing module is used to clear the fault status of the automated guided vehicle after the reset verification process is passed.

[0013] Optionally, the repair strategy execution module includes: The fault level determination submodule is used to determine the fault level of the fault state based on the fusion algorithm parameters and the state parameters. The repair strategy execution submodule is used to determine and execute a matching fault repair strategy based on the fault level of the fault state.

[0014] Optionally, the fusion algorithm parameters include local fusion bias, global fusion total residual, odometer constraint residual, and closed-loop matching score; the state parameters include trigger state parameters, used to characterize whether the protective component is triggered. The fault level determination submodule includes: A high-level fault determination unit is used to determine the fault level as high-level if the local fusion deviation is greater than the first deviation threshold for a duration exceeding the first time threshold, the total global fusion residual is greater than the first residual threshold, or the protective component is triggered. A low-level fault determination unit is used to determine the fault level as low-level if the local fusion deviation is less than or equal to a second deviation threshold and the odometer constraint residual is within the range of the odometer residual threshold; wherein the first deviation threshold is greater than the second deviation threshold. The medium-level fault determination unit is used to determine the fault level as medium if the local fusion deviation value is greater than the second deviation threshold and less than or equal to the first deviation threshold, or the closed-loop matching score is within the matching score threshold range.

[0015] Optionally, the repair strategy execution submodule includes: The first repair strategy execution unit is used to determine and execute a matching first repair strategy when the fault level is determined to be high; the first repair strategy is to control the automated guided vehicle to perform an emergency stop operation and generate a first-level alarm message. The second repair strategy execution unit is used to determine and execute a matching second repair strategy when the fault level is determined to be low. The second repair strategy is to maintain the operation of the automated guided vehicle, only display abnormal information in the status list, and perform parameter self-calibration when the automated guided vehicle is idle. The third repair strategy execution unit is used to determine and execute a matching third repair strategy when the fault level is determined to be medium level. The third repair strategy is to control the automated guided vehicle to decelerate and start a timed warning. If the vehicle recovers through automatic adjustment within a second time threshold, the warning is canceled; otherwise, the warning is escalated.

[0016] Optionally, before determining and executing a matching fault repair strategy, the following steps are also included: The fusion algorithm state and obstacle status determination module is used to determine the fusion algorithm state and the obstacle status based on the fusion algorithm feature parameters. The adaptive response strategy execution module is used to execute the corresponding adaptive response strategy based on the fusion algorithm state and / or obstacle status.

[0017] Optionally, the fusion algorithm status includes normal fusion, local fusion deviation, and fusion anomaly; the obstacle status includes whether or not an obstacle has been encountered. The adaptive response strategy execution module includes: The first adaptive response strategy execution submodule is used to execute the corresponding first adaptive response strategy when the fusion algorithm status is normal fusion and the road obstacle status is an obstacle encountered; the first adaptive response strategy is to control the automated guided vehicle to perform an emergency stop operation; The second adaptive response strategy execution submodule is used to execute the corresponding second adaptive response strategy when the fusion algorithm state is local fusion deviation and the obstacle state is obstacle-free; the second adaptive response strategy is to automatically adjust the scanning frequency of the laser sensor, control the deceleration of the automated guided vehicle, and adjust the fusion algorithm. The third adaptive response strategy execution submodule is used to execute the corresponding third adaptive response strategy when the fusion algorithm status is fusion abnormal and the obstacle status is obstacle-free; the third adaptive response strategy is to load backup parameters and restart the fusion algorithm according to the backup parameters.

[0018] Optionally, the reset verification process includes sequential security verification and fusion verification; The verification process execution module includes: The safety verification process execution submodule is used to execute the safety verification process after the fault repair strategy is completed; the safety verification process is used to verify whether the physical environment of the automated guided vehicle is safe. The fusion verification process execution submodule is used to execute the fusion verification process after the security verification process is executed; the fusion verification is used to verify whether the fusion accuracy of the fusion algorithm is accurate.

[0019] Optionally, before obtaining the fusion algorithm feature parameters through the fusion algorithm and acquiring the state parameters of the protective component, the method further includes: The standard data acquisition module is used to acquire standard coordinate points and standard odometer data; The estimated coordinate point determination module is used to determine the estimated coordinate point based on the coordinates of the standard coordinate point, odometer data, and fusion algorithm. The local fusion deviation determination module is used to determine the local fusion deviation based on the estimated coordinate points and the standard coordinate points; The self-test completion determination module is used to determine that the automated guided vehicle has completed its self-test if the local fusion deviation is less than or equal to the standard deviation threshold.

[0020] Thirdly, embodiments of the present invention provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0021] Fourthly, embodiments of the present invention provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0022] The embodiments of the present invention have the following advantages: This invention provides a reset control method for an automated guided vehicle (AGV), comprising: during AGV operation, obtaining fusion algorithm feature parameters and acquiring protective component status parameters based on detection data from laser sensors and odometers; determining a fault state based on the fusion algorithm parameters and status parameters, and executing a matching fault repair strategy; executing a reset verification process after the repair strategy is completed; and clearing the fault state after reset. This method shortens fault handling time through adaptive fault handling and ensures safe and stable resumption of operation after fault resolution through reset verification, reducing the recurrence rate of faults. It resolves the contradiction between operational efficiency and system safety in traditional AGVs during fault handling, ensuring the overall stability and efficiency of the AGV system. Attached Figure Description

[0023] Figure 1 This is a flowchart of the steps of a reset control method for an automated guided vehicle provided in an embodiment of the present invention; Figure 2This is a flowchart of another method for resetting an automated guided vehicle provided in an embodiment of the present invention; Figure 3 This is a flowchart of the reset control system for an automated guided vehicle provided in an embodiment of the present invention; Figure 4 This is a structural block diagram of a reset control device for an automated guided vehicle provided in an embodiment of the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The terms "first," "second," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0026] The following description, in conjunction with the accompanying drawings, details a reset control method for an automated guided vehicle (AGV), a reset control device for an AGV, an electronic device, and a computer-readable storage medium provided by the present invention through specific embodiments and application scenarios.

[0027] Reference Figure 1 The diagram illustrates a step-by-step flowchart of a reset control method for an automated guided vehicle (AGV) according to an embodiment of the present invention. The AGV includes a laser sensor, an odometer, and protective components. The method may specifically include the following steps: AGVs (Automated Guided Vehicles) are autonomous mobile robots widely used in logistics, warehousing, and manufacturing. This solution targets AGVs employing a combined laser and odometer navigation system. Laser navigation uses laser scanning of environmental features for positioning; odometer navigation measures distance traveled through wheel rotation. Common problems include: laser sensors are susceptible to noise interference such as dust or reflective objects; odometers are prone to cumulative deviations such as tire slippage; traditional safety measures such as anti-collision strips are not linked to the navigation algorithm, leading to false alarms or missed alarms; and fault reset mechanisms are simplistic, inefficient, and prone to recurring failures. Most critically, when an AGV deviates from its path due to navigational errors, it may suddenly stop, and after resetting, the navigation accuracy is not verified, leading to another failure, impacting operational efficiency and safety.

[0028] Step 101: During the operation of the automated guided vehicle, based on the detection data of the laser sensor and the odometer, the fusion algorithm feature parameters are obtained through the fusion algorithm, and the status parameters of the protective component are acquired. Laser sensor data consists of point cloud data acquired by laser sensors scanning the surrounding environment at a specific frequency (e.g., 10-15Hz). This data includes distance and angle information of the AGV relative to fixed features in the environment (such as walls, columns, and shelves). Odometer data consists of data obtained by an odometer (usually an encoder) that estimates the AGV's displacement and heading changes in real time by measuring the number of rotations of the drive wheels.

[0029] Laser data and odometer data are input into a fusion algorithm, such as a Kalman filter-based or graph-optimized SLAM algorithm. This algorithm leverages the complementary characteristics of the two sensors—laser providing a high-precision absolute position reference and odometer providing high-frequency relative motion estimation—to calculate the optimal estimated pose (position and orientation) of the AGV. Based on this, the system calculates and outputs a set of fusion algorithm feature parameters in real time to evaluate the health of the navigation system.

[0030] The system synchronously reads status signals from the AGV's physical safety protection subsystem. These protective components and their status parameters include: the anti-collision strips, whose status parameter is a triggered / untriggered switch signal. Once the AGV makes physical contact with any object, causing the anti-collision strips to be compressed, this signal becomes triggered.

[0031] Through this step, the system achieves comprehensive, synchronous, and real-time monitoring of the AGV's internal navigation health status (reflected by fusion algorithm feature parameters) and external safety status (reflected by protective component status parameters).

[0032] Step 102: If a fault state is determined based on the fusion algorithm parameters and the state parameters, a matching fault repair strategy is determined and executed. The system performs a comprehensive status assessment through preset decision-making logic, and automatically selects and executes a corresponding repair strategy when a fault is confirmed to have occurred.

[0033] In some embodiments provided by this invention, the fusion algorithm parameters and protective component status parameters are correlated and combined for judgment. When the combination of parameters meets preset fault conditions, the system determines that the AGV is in a specific type of fault state. Based on the fault diagnosis results, the system automatically selects a matching repair strategy from predefined strategies. These strategies constitute a hierarchical response system, executing differentiated control commands and human-machine interaction schemes for faults of different natures and severity.

[0034] The differences in strategies include: for example, the level of system intervention, from fully autonomous repair to requiring manual intervention; the adjustment of operating status, from maintaining the original speed to immediately shutting down safely; the user notification method, from silent recording in the background to forced pop-up alarms in the foreground; and the parameter adjustment actions, from fine-tuning weight parameters to loading backup parameters or restarting modules.

[0035] Once a strategy is selected, the system automatically triggers and executes the corresponding repair actions. These actions are a set of collaborative processes, which may include, but are not limited to: adjusting the AGV's motion state, adaptively optimizing the fusion algorithm parameters, providing information prompts and guidance to the user interface, and checking and resetting the status of safety devices.

[0036] This system achieves a leap from passive fault detection to proactive intelligent handling, providing optimal solutions based on the real-time fault context. Thus, while ensuring safety, it maximizes the continuous operation capability of AGVs and improves the overall level of intelligent operation and maintenance.

[0037] Step 103: After the fault repair strategy is completed, execute the reset verification process; This step is crucial for ensuring that the AGV can safely and stably return to normal operation after experiencing a fault and completing initial repairs. The reset verification process is a systematic verification process whose core purpose is to confirm, through multi-dimensional status checks, that the internal and external factors causing the fault have been completely eliminated and that the system is ready to resume full-function operation.

[0038] First, a basic safety status verification is performed to confirm that the external physical environment in which the AGV operates and its own safety equipment are in a safe baseline state for permissible operation. This includes verifying basic safety conditions such as the reset status of protective components and the removal of surrounding obstacles. Next, a core navigation function verification is performed to assess whether the health and accuracy of the integrated navigation system itself have been restored to a reliable level. This ensures that every recovery from a failure is fully verified, effectively preventing the instantaneous recurrence of failures or operation with potential hazards.

[0039] Step 104: After the reset verification process is completed, the fault status of the automated guided vehicle is cleared.

[0040] Once all the aforementioned reset verification procedures meet the preset pass conditions, the automated guided vehicle (AGV) transitions from fault handling mode to normal operation mode. Clearing the fault state of the AGV includes: The logical clearing of fault states involves the system proactively resetting the currently triggered fault identifier and clearing related fault codes and alarm states at the internal logic level. This operation enables the system's control core to recognize that the fault conditions no longer exist, clearing logical obstacles for resuming normal operation.

[0041] Once the fault condition is cleared, the system will officially restore operational permissions by removing all operational restrictions imposed due to the fault. This includes, but is not limited to: releasing the output lock on the motion controller, reactivating the pose output function of the fusion algorithm, and enabling the drive motors. The AGV will then regain its autonomous driving privileges.

[0042] The system initialization and monitoring restart place the AGV's navigation and control system in a known, healthy initial state. Subsequently, it transitions to the continuous monitoring loop described in step 101, restarting real-time monitoring of the fusion algorithm's characteristic parameters and the protective component status parameters to ensure the AGV remains under control after resuming operation.

[0043] This step ensures that the AGV will only be officially released from fault lock after undergoing rigorous double verification and confirming that its internal and external states meet safe operating standards. This effectively prevents immediate recurrence due to incomplete fault eradication, establishing a complete closed-loop management process from fault handling to safety verification to state restoration, fundamentally guaranteeing the long-term reliability and stability of the AGV.

[0044] Reference Figure 2 The diagram illustrates a flowchart of another reset control method for an automated guided vehicle (AGV) according to an embodiment of the present invention. The AGV includes a laser sensor, an odometer, and protective components. The method may specifically include the following steps: Step 201: During the operation of the automated guided vehicle, based on the detection data of the laser sensor and the odometer, the fusion algorithm feature parameters are obtained through the fusion algorithm, and the status parameters of the protective component are acquired. In some embodiments provided by this invention, during initial deployment or parameter adjustment, the operator configures the core parameters of the fusion algorithm in the AGV control software, such as the laser data weight w. l =10.0, Odometer data weight w o =5.0, Fusion Deviation Safety Threshold Global fusion total residual safety threshold Closed-loop matching score threshold S≥0.7) and safety parameters (laser obstacle avoidance emergency stop distance threshold d) 急停 =0.5m, laser obstacle avoidance warning distance threshold d 预警 =1m), save to the configuration file; it will be automatically loaded upon subsequent startups, eliminating the need for repeated input. The parameters listed above are merely examples; specific standards can be set according to the actual AGV and its operating status, and this invention does not impose any limitations.

[0045] Safety parameters are obtained by laser obstacle avoidance sensors, and their status parameter is the distance (d) to the nearest detected obstacle. The system will compare this distance with a preset warning distance threshold (d). 预警 ) and emergency stop distance threshold (d 急停 (Compare)

[0046] Step 202: Determine the fusion algorithm state based on the fusion algorithm feature parameters; determine the roadblock status; and execute the corresponding adaptive response strategy based on the fusion algorithm state and / or roadblock status. Based on the characteristic parameters of the fusion algorithm, the system summarizes the internal health of the fusion algorithm into a comprehensive fusion algorithm state (e.g., normal, accuracy degradation, severe anomaly, or failure) by comparing them with their respective preset thresholds. Simultaneously, based on the status parameters of the protective components (e.g., obstacle distance, anti-collision strip trigger signal), the system summarizes the safety status of the external environment into a comprehensive roadblock status (e.g., safe, warning, emergency collision).

[0047] The system performs correlation analysis and combined judgment on the states of the two dimensions mentioned above: the fusion algorithm state, which represents the intrinsic navigation reliability, and the obstacle status, which represents the external environmental safety. Based on this, the system can intelligently identify the root cause of the failure, such as whether it is a real obstacle or a misjudgment caused by navigation anomalies, and generate or select the most suitable adaptive response strategy accordingly.

[0048] During AGV operation, the fusion algorithm performs real-time calculations. , Safety devices such as S, laser sensors, and protective components synchronously collect the obstacle distance d and trigger status, and execute adaptive responses based on the data combination.

[0049] Step 203: If a fault state is determined based on the fusion algorithm parameters and the state parameters, a matching fault repair strategy is determined and executed. Step 204: After the fault repair strategy is completed, execute the reset verification process; Step 205: After the reset verification process is completed, the fault status of the automated guided vehicle is cleared.

[0050] In one embodiment, the fusion algorithm state includes normal fusion, local fusion deviation, and fusion anomaly; the obstacle status includes whether or not an obstacle has been encountered; step 202 may include the following sub-steps: The fusion algorithm status is used to characterize the operational health of the navigation system itself, including a state indicating that the algorithm is running ideally, a state indicating that the algorithm output has a measurable deviation, and a state indicating that the algorithm has failed or the output is unreliable; the obstacle status is used to characterize the passage conditions of the AGV's external environment, and its core is to determine whether there are physical obstacles on the travel path.

[0051] The adaptive response strategy is a set of strategies encompassing different control intensities and human-machine interaction levels. The system automatically executes the selected strategies, including but not limited to: adjusting the AGV's operating status, such as maintaining operation, decelerating, and executing soft or hard emergency stops; autonomously optimizing the fusion algorithm, such as adaptively adjusting sensor data weights, increasing scanning frequency, loading backup parameters, or restarting specific modules; and providing information guidance to the user, such as silent recording, interface list prompts, pop-up timed warnings, or issuing mandatory intervention alarms.

[0052] Sub-step S11: When the fusion algorithm status is normal and the road obstacle status is an obstacle encountered, the corresponding first adaptive response strategy is executed; the first adaptive response strategy is to control the automated guided vehicle to perform an emergency stop operation. In some embodiments of the present invention, when d=0.4m (<d) is detected 急停 )and =2.5cm (≤ If the fusion is normal, the system will immediately trigger a soft emergency stop when an obstacle is encountered. The soft emergency stop involves pausing the pose output of the fusion algorithm, locking the motor brake, sending a zero-speed command, flashing a red light, and sounding an alarm. The system will resume operation after the obstacle is removed.

[0053] Sub-step S12: When the fusion algorithm state is local fusion deviation and the obstacle state is obstacle-free, execute the corresponding second adaptive response strategy; the second adaptive response strategy is to automatically adjust the scanning frequency of the laser sensor, control the deceleration of the automated guided vehicle, and adjust the fusion algorithm. In some embodiments of the present invention, when detected =4cm (>3cm) and d=1.2m (>d) 预警 (i.e., no obstacles), as a fusion deviation warning, the system automatically increases the scanning matching to 15Hz and decelerates. The safety status page displays information related to abnormal positioning deviation, and the system automatically adjusts and resets. ≤3cm will recover.

[0054] Sub-step S13: When the fusion algorithm status is fusion abnormal and the obstacle status is obstacle-free, execute the corresponding third adaptive response strategy; the third adaptive response strategy is to load backup parameters and restart the fusion algorithm according to the backup parameters.

[0055] When d=0.3m (<d) is detected 急停 )+ =6cm (>5cm), indicating a fusion anomaly. This is due to a misjudgment of an obstacle during fusion, triggering a flashing red light warning and automatically loading backup parameters w. l =12.0, recalculate pose, and wait for the fusion module to restart before resetting.

[0056] In one embodiment, step 203 may include the following sub-steps: Sub-step S21: Determine the fault level of the fault state based on the fusion algorithm parameters and the state parameters; The system will integrate algorithm feature parameters (such as...) , The system uses combined logic to determine the fault status based on parameters such as obstacle distance d and bumper status (S) and protective component status parameters (e.g., obstacle distance d, bumper status), rather than considering any single parameter in isolation. Based on multiple preset safety thresholds, the fault status is classified into at least two or three levels.

[0057] Sub-step S22: Determine and execute a matching fault repair strategy based on the fault level of the fault state.

[0058] Based on the determined fault level, the system automatically invokes and executes predefined, differentiated repair strategies. This achieves a shift from passive alarms to proactive, intelligent, and forward-looking operations and maintenance, significantly improving AGV efficiency and system reliability.

[0059] In one embodiment, the fusion algorithm parameters include local fusion bias, global fusion total residual, odometry constraint residual, and closed-loop matching score; the state parameters include trigger state parameters, used to characterize whether the protective component is triggered; the sub-step S21 may include the following sub-steps: Local fusion positioning deviation This parameter characterizes the difference between the pose calculated by the fusion algorithm in a local range and the true pose; the global fusion total residual In graph optimization-based fusion algorithms, this parameter represents the overall error of all constraints (laser constraints, odometer constraints, and closed-loop constraints) after optimization; a large one... A low value usually indicates a significant deviation in global positioning or a decrease in map matching accuracy. The loop closure matching score, S, is determined when the AGV reaches a previously visited area. The fusion algorithm attempts to perform loop closure detection by matching the current laser scan with historical data. The matching score S, for example, ranging from 0 to 1, directly reflects the success of loop closure detection and the confidence level of the match; a score that is too low indicates that the AGV may be lost.

[0060] Sub-step S211: If the local fusion deviation is greater than the first deviation threshold for a duration exceeding the first time threshold, and the total global fusion residual is greater than the first residual threshold, or the protective component is triggered, then the fault level is determined to be high level. In some embodiments provided by this invention, the criteria for determining a high-level fault are any of the following: the core navigation function is severely malfunctioning, for example, local fusion positioning deviation. If the deviation exceeds the first deviation threshold (e.g., 5 cm) for a predetermined time (e.g., 2 seconds), or the total residual of global fusion is exceeded. The first residual threshold (e.g., 0.1m) is exceeded; or the highest priority safety device is triggered, such as the anti-collision strip being in an triggered state, or the emergency stop button being pressed.

[0061] Sub-step S212: If the local fusion deviation is less than or equal to the second deviation threshold and the odometer constraint residual is within the odometer residual threshold range, then the fault level is determined to be low level; wherein the first deviation threshold is greater than the second deviation threshold. In some embodiments provided by this invention, the criteria for determining a low-level fault are: the existence of a minor anomaly that does not affect the current basic operation, such as: local fusion positioning deviation. The odometer itself is normal (≤3cm), but the odometer constraint residual r o If the readings exceed the normal range (e.g., 0.04~0.05m), it indicates that the sensor may be drifting.

[0062] Sub-step S213: If the local fusion deviation value is greater than the second deviation threshold and less than or equal to the first deviation threshold, or the closed-loop matching score is within the matching score threshold range; determine the fault level as medium level.

[0063] In some embodiments provided by this invention, the criteria for determining a medium-level fault are that navigation performance exhibits a tolerable degradation, but has not yet completely failed, for example: local fusion positioning deviation. The deviation score S is between the first deviation threshold (e.g., 5cm) and a more stringent second deviation threshold (e.g., 3cm), or the closed-loop matching score S is within the matching score threshold range (e.g., between 0.6 and 0.7).

[0064] In one embodiment, sub-step S22 may include the following sub-steps: Sub-step S221: When the fault level is determined to be high, a matching first repair strategy is determined and executed; the first repair strategy is to control the automated guided vehicle to perform an emergency stop operation and generate a first-level alarm message. In some embodiments provided by this invention, for high-level faults, the highest priority response strategy is executed: control actions are taken to immediately send a soft emergency stop command to the AGV's motion controller to stop all AGV movements, and the fusion algorithm pauses the output of pose; the highest level alarm is displayed on the operator interface in the form of a forced pop-up window, clearly indicating the fault type (such as "serious deviation in fusion positioning" or "anti-collision strip triggered"), and instructing necessary handling actions such as pressing the emergency stop button and checking the path; the system is placed in a "locked" state, waiting for manual intervention to investigate the root cause, such as cleaning the laser lens, calibrating the odometer, removing obstacles for repair, and then releasing the emergency stop and clicking reset.

[0065] Sub-step S222: When the fault level is determined to be low, a matching second repair strategy is determined and executed; the second repair strategy is to maintain the operation of the automated guided vehicle, only display abnormal information in the status list, and perform parameter self-calibration when the automated guided vehicle is idle; In some embodiments provided by this invention, for low-level faults, a lowest-priority response strategy is executed to maintain the AGV's current operation without any deceleration or stopping. No disruptive alarms are displayed in the foreground; only an exception record is added to the background safety status list or historical log for the operator to review when idle. Adaptive repair attempts are also implemented; the system automatically loads preset standard parameters (such as w) in the background when the AGV completes its current task or is in an idle state. o = 5.0) Perform self-calibration on the relevant sensors until the abnormal parameters are restored (e.g., r o ≤ 0.04m).

[0066] Sub-step S223: When the fault level is determined to be medium level, a matching third repair strategy is determined and executed; the third repair strategy is to control the automated guided vehicle to decelerate and start a timed warning. If the vehicle recovers through automatic adjustment within a second time threshold, the warning is canceled; otherwise, the warning is upgraded.

[0067] In some embodiments provided by this invention, for medium-level faults, a medium-priority response strategy is implemented: the AGV is controlled to slow down to reduce risk, but not necessarily stopped immediately; a pop-up window starts a timer (e.g., 1 minute) and prompts the system that it is attempting automatic adjustment. During this time, the system automatically performs repair actions, such as increasing the laser scanning frequency to obtain more environmental feature data, or fine-tuning the laser data weight w in the fusion algorithm. lIf the relevant parameters return to normal before the timer expires (e.g., ... If the fault is ≤ 3cm, the system will automatically cancel the alarm and resume normal operation; if the fault does not recover within the time limit, the fault will be upgraded to a higher-level fault handling.

[0068] In one embodiment, the reset verification process includes sequential security verification and fusion verification; step 204 may include the following sub-steps: After the operator completes fault repair according to the system prompts (such as removing obstacles in the path or completing equipment maintenance) and triggers the reset command, the system does not immediately resume AGV operation. Instead, it first initiates this safety verification process. This process includes safety verification and fusion verification.

[0069] Sub-step S31: After the fault repair strategy is completed, the safety verification process is executed; the safety verification process is used to verify whether the physical environment of the automated guided vehicle is safe. The safety verification process, also known as environmental obstacle verification, involves the system instructing laser sensors to scan the emergency stop and warning zones around the AGV to confirm the absence of any physical obstacles within these areas. This is to prevent the AGV from colliding with any cleared obstacles at the moment of startup.

[0070] The system checks the real-time status of all passive safety devices, confirming that the anti-collision strips are in a reliable "non-triggered" reset state and that the emergency stop button has been released and reset. This ensures that all emergency braking mechanisms have been disengaged, providing physical permission for normal operation. The system performs a rapid self-check of the basic functions of active safety sensors such as laser obstacle avoidance to ensure they are working properly and can provide continuous environmental awareness for subsequent operations.

[0071] The process is considered complete only when all the above verification items are determined to be "safe" or "normal" by the system. If any verification fails (for example, the laser scan detects an obstacle ahead, or the emergency stop button is still pressed), the system will interrupt the reset process, maintain the locked state, and clearly indicate the specific item that failed the verification to the operator through the human-machine interface, guiding them to proceed with subsequent processing. This greatly improves the safety and reliability of the system reset operation.

[0072] Sub-step S32: After executing the security verification process, execute the fusion verification process; the fusion verification is used to verify whether the fusion accuracy of the fusion algorithm is accurate.

[0073] After executing the security verification process, the fusion verification process is executed; the fusion verification includes local verification, global verification, and closed-loop verification; the local verification is: controlling the automated guided vehicle to move to a preset calibration point, and verifying whether the local fusion error between its actual pose and the pose of the preset calibration point is less than a local error threshold; the global verification is: based on the historical fusion data within a predetermined period before the automated guided vehicle resets, calculating the total global fusion residual, and verifying whether it is less than a global residual threshold; the closed-loop verification is: controlling the automated guided vehicle to travel along a preset closed path, and verifying whether its closed-loop matching score is greater than or equal to a closed-loop matching threshold.

[0074] Local absolute accuracy verification compares the real-time pose output by the fusion algorithm with the actual pose at preset verification points with known precise poses to verify its absolute positioning accuracy within a local range. Global trajectory consistency verification, based on fusion data from the AGV's historical operating cycles prior to the failure, reconstructs its motion trajectory and performs global optimization analysis to evaluate its cumulative error and trajectory smoothness throughout the entire operating path, ensuring global consistency of the historical path. Closed-loop detection and correction capability verification controls the AGV to travel along a specific closed path or feature region to test the success rate of the fusion algorithm in closed-loop detection and the effectiveness of its pose correction, verifying its ability to eliminate cumulative errors and self-correct.

[0075] In one embodiment, before obtaining the fusion algorithm feature parameters through the fusion algorithm and acquiring the state parameters of the protective component, the method may further include the following steps: Obtain standard coordinate points and standard odometer data; determine estimated coordinate points based on the coordinates of the standard coordinate points, odometer data, and fusion algorithm; determine local fusion deviation based on the estimated coordinate points and standard coordinate points; if the local fusion deviation is less than or equal to the standard deviation threshold, determine that the automated guided vehicle has completed its self-check.

[0076] In some embodiments provided by this invention, the system first loads preset standard verification data, including: standard coordinate points, a known and precise two-dimensional plane coordinate point ( , ), serving as the baseline true value for position verification; standard odometer data, a set of preset, theoretical motion displacements s, used to simulate the standard motion input of the AGV.

[0077] Then, the system generates estimated coordinates and calculates the fusion deviation. The system inputs the aforementioned standard test data into the laser-odometer fusion algorithm. Based on the standard odometer data and combined with the positioning information from the laser sensor, the algorithm outputs an estimated coordinate point (…). , Subsequently, the system determines the local fusion deviation by calculating the Euclidean distance between the estimated coordinate points and the standard coordinate points. The calculation formula is as follows: This deviation value objectively quantifies the positioning accuracy of the fusion algorithm within a local range.

[0078] Finally, based on the deviation threshold, the system completes the self-check and judgment, and calculates the local fusion deviation. Compared to a preset, strict standard deviation threshold (e.g.) Compare with samples ≤1cm. If If the accuracy is less than or equal to the standard deviation threshold, it proves that the local positioning accuracy of the fusion navigation system meets the design requirements, and the system determines that the self-test has been successfully completed. The AGV can then safely proceed to the subsequent task execution phase.

[0079] This invention provides a reset control method for an automated guided vehicle (AGV), comprising: during AGV operation, obtaining fusion algorithm feature parameters and acquiring protective component status parameters based on detection data from laser sensors and odometers; determining a fault state based on the fusion algorithm parameters and status parameters, and executing a matching fault repair strategy; executing a reset verification process after the repair strategy is completed; and clearing the fault state after reset. Through adaptive fault handling, the fault handling time is shortened. Reset verification ensures safe and stable resumption of operation after fault resolution, reducing the recurrence rate of faults. This method resolves the contradiction between operational efficiency and system safety in traditional AGVs during fault handling, ensuring the overall stability and efficiency of the AGV system.

[0080] Reference Figure 3 The diagram illustrates the workflow of a reset control system for an automated guided vehicle according to an embodiment of the present invention: It mainly includes a fusion-related DTC (Diagnostic Trouble Code) fault handling module, a fusion-led dual-verification reset module, and a fusion anomaly safety module. The fusion-related DTC fault handling module categorizes faults by fusion status: high-level faults trigger an emergency stop pop-up, medium-level faults trigger timed warnings, and low-level faults only display a list. The fusion-led dual-verification reset module allows users to reset the AGV after handling a fault. First, safety is verified (laser obstacle avoidance, anti-collision strip reset, etc.), then fusion accuracy is verified (local positioning, global data, closed-loop capability). After both are verified, the fault code is cleared, and AGV operation resumes. The fusion anomaly safety module monitors the fusion status. In case of a crash, it increases the laser scanning frequency and guides the loading of parameter snapshots via a pop-up window. When a false obstacle is detected, it adjusts the laser weight and increases the scanning frequency to correct the deviation. All DTC fault information is displayed in real-time for easy traceability and management.

[0081] First, parameter configuration and loading are performed: During initial deployment or parameter adjustment, the operator configures the core parameters and safety parameters of the fusion algorithm in the AGV control software and saves them to the configuration file; subsequent startups will automatically load these parameters without the need for repeated input.

[0082] Then, a collaborative self-check is performed: standard data (laser feature point coordinates (1,0)m, odometer s=1m) is input into the fusion algorithm, and the algorithm is tested using the formula... Calculated local fusion error ≈0.22cm, must meet the following requirements ≤1cm; the laser sensor scans the emergency stop area and finds no obstacles, the anti-collision strip is not triggered, and the emergency stop button is not pressed, completing the self-check. Among these, Used to calculate the deviation between the pose obtained by the fusion algorithm and the true pose. and This represents the estimated coordinates of the AGV in a two-dimensional plane, calculated by the laser-odometry fusion algorithm. and These are the actual coordinates of the AGV in the same two-dimensional plane.

[0083] Following the safety linkage response, the AGV operates while the fusion algorithm performs real-time calculations. , S, the safety device synchronously collects the obstacle distance d and trigger status, and executes an adaptive response based on the data combination.

[0084] Further graded fault handling involves classifying fault levels based on fused parameter states and matching corresponding handling strategies: High-level fault (>20): When >5cm for 2 seconds If the distance is greater than 0.1m (global fusion failure) or the anti-collision strip is triggered, the AGV will immediately stop with a soft emergency stop. A pop-up window will display the abnormal problem. The operator needs to press the emergency stop button and check the fusion failure (clean the laser lens, calibrate the odometer wheel diameter) or the anti-collision strip according to the abnormal problem. After repair, release the emergency stop button and click "Reset". Medium-level fault (=20): When =3~5cm or S=0.6~0.7 (weak effect of closed-loop detection), the AGV robot decelerates, a pop-up window starts a 1-minute timer, if the automatic adjustment and reset is successful within 30 seconds, the timer is automatically canceled; if it does not reset after the timeout, a pop-up window will escalate the alarm. Low-level faults (<20): When ≤3cm, but the odometer constraint residual r o =0.04~0.05m (slight deviation), the system only displays anomalies in the safety status list, and loads w when idle. o =5.0 self-calibration to ro ≤0.04m.

[0085] Then the system is reset and the three-level verification is integrated (taking "anti-collision strip trigger + integration deviation" as an example).

[0086] 1) Safety verification: Remove obstacles, release the emergency stop button to ensure the motor brake is released, and the safety verification is complete when all safety devices do not alarm.

[0087] 2) Fusion verification: including local verification, global verification and closed-loop verification.

[0088] Local verification: The AGV moves to the preset positioning target area (x=5m, y=3m), and the calculation is performed. (Requires ≤1cm); Global verification: Extract the fused data of the 100 frames before AGV reset to construct a global factor graph, remove abnormal constraints from laser or odometer, and recalculate after optimization. =0.06m, must meet the following requirements ≤0.08m; Closed-loop verification: Along a 10m closed path (start and end points coincide), control the AGV to travel along the path, and the fusion algorithm calculates S using the formula... ()( Therefore, S = 0.85, which requires S ≥ 0.7; 3) Restart: After successful dual verification, initialize pose and monitor after startup. ≤3cm, ensuring the AGV travels along the preset path without any abnormalities.

[0089] This invention enables users to quickly understand the fault and take measures by adaptively processing different levels of DTC fault alarms, shortening the fault handling time and improving the utilization efficiency of AGV robots; a reasonable reset control mechanism and continuous safety status monitoring enable AGVs to quickly and stably resume normal operation after the fault is cleared, ensuring the overall stability and reliability of the AGV robot system; and the integration of two-way linkage with safety reduces the failure rate of repeated faults.

[0090] It should be noted that the resetting control method for the automated guided vehicle (AGV) provided in this embodiment of the invention can be executed by the AGV's resetting control device, or by the control module within the AGV's resetting control device for executing the method of loading the AGV's resetting control. This embodiment of the invention uses the AGV's resetting control device executing the method of loading the AGV's resetting control as an example to illustrate the AGV's resetting control method provided in this embodiment of the invention.

[0091] Reference Figure 4The diagram illustrates a structural block diagram of a reset control device for an automated guided vehicle (AGV) according to an embodiment of the present invention. The AGV includes a laser sensor, an odometer, and protective components. The device may specifically include the following modules: The parameter acquisition module 401 is used to obtain fusion algorithm feature parameters and the status parameters of the protective component based on the detection data of the laser sensor and the odometer during the operation of the automated guided vehicle. The repair strategy execution module 402 is used to determine and execute a matching fault repair strategy when a fault state is determined based on the fusion algorithm parameters and the state parameters. The verification process execution module 403 is used to execute the reset verification process after the fault repair strategy is completed; The fault status clearing module 404 is used to clear the fault status of the automated guided vehicle after the reset verification process is passed.

[0092] In one embodiment, the repair strategy execution module includes: The fault level determination submodule is used to determine the fault level of the fault state based on the fusion algorithm parameters and the state parameters. The repair strategy execution submodule is used to determine and execute a matching fault repair strategy based on the fault level of the fault state.

[0093] In one embodiment, the fusion algorithm parameters include local fusion bias, global fusion total residual, odometer constraint residual, and closed-loop matching score; the state parameters include trigger state parameters, used to characterize whether the protective component is triggered. The fault level determination submodule includes: A high-level fault determination unit is used to determine the fault level as high-level if the local fusion deviation is greater than the first deviation threshold for a duration exceeding the first time threshold, the total global fusion residual is greater than the first residual threshold, or the protective component is triggered. A low-level fault determination unit is used to determine the fault level as low-level if the local fusion deviation is less than or equal to a second deviation threshold and the odometer constraint residual is within the range of the odometer residual threshold; wherein the first deviation threshold is greater than the second deviation threshold. The medium-level fault determination unit is used to determine the fault level as medium if the local fusion deviation value is greater than the second deviation threshold and less than or equal to the first deviation threshold, or the closed-loop matching score is within the matching score threshold range.

[0094] In one embodiment, the repair strategy execution submodule includes: The first repair strategy execution unit is used to determine and execute a matching first repair strategy when the fault level is determined to be high; the first repair strategy is to control the automated guided vehicle to perform an emergency stop operation and generate a first-level alarm message. The second repair strategy execution unit is used to determine and execute a matching second repair strategy when the fault level is determined to be low. The second repair strategy is to maintain the operation of the automated guided vehicle, only display abnormal information in the status list, and perform parameter self-calibration when the automated guided vehicle is idle. The third repair strategy execution unit is used to determine and execute a matching third repair strategy when the fault level is determined to be medium level. The third repair strategy is to control the automated guided vehicle to decelerate and start a timed warning. If the vehicle recovers through automatic adjustment within a second time threshold, the warning is canceled; otherwise, the warning is escalated.

[0095] In one embodiment, before determining and executing a matching fault repair strategy, the method further includes: The fusion algorithm state and obstacle status determination module is used to determine the fusion algorithm state and the obstacle status based on the fusion algorithm feature parameters. The adaptive response strategy execution module is used to execute the corresponding adaptive response strategy based on the fusion algorithm state and / or obstacle status.

[0096] In one embodiment, the fusion algorithm state includes normal fusion, local fusion deviation, and fusion anomaly; the obstacle status includes whether or not an obstacle has been encountered. The adaptive response strategy execution module includes: The first adaptive response strategy execution submodule is used to execute the corresponding first adaptive response strategy when the fusion algorithm status is normal fusion and the road obstacle status is an obstacle encountered; the first adaptive response strategy is to control the automated guided vehicle to perform an emergency stop operation; The second adaptive response strategy execution submodule is used to execute the corresponding second adaptive response strategy when the fusion algorithm state is local fusion deviation and the obstacle state is obstacle-free; the second adaptive response strategy is to automatically adjust the scanning frequency of the laser sensor, control the deceleration of the automated guided vehicle, and adjust the fusion algorithm. The third adaptive response strategy execution submodule is used to execute the corresponding third adaptive response strategy when the fusion algorithm status is fusion abnormal and the obstacle status is obstacle-free; the third adaptive response strategy is to load backup parameters and restart the fusion algorithm according to the backup parameters.

[0097] In one embodiment, the reset verification process includes sequential security verification and fusion verification; The verification process execution module includes: The safety verification process execution submodule is used to execute the safety verification process after the fault repair strategy is completed; the safety verification process is used to verify whether the physical environment of the automated guided vehicle is safe. The fusion verification process execution submodule is used to execute the fusion verification process after the security verification process is executed; the fusion verification is used to verify whether the fusion accuracy of the fusion algorithm is accurate.

[0098] In one embodiment, before obtaining the fusion algorithm feature parameters through the fusion algorithm and acquiring the state parameters of the protective component, the method further includes: The standard data acquisition module is used to acquire standard coordinate points and standard odometer data; The estimated coordinate point determination module is used to determine the estimated coordinate point based on the coordinates of the standard coordinate point, odometer data, and fusion algorithm. The local fusion deviation determination module is used to determine the local fusion deviation based on the estimated coordinate points and the standard coordinate points; The self-test completion determination module is used to determine that the automated guided vehicle has completed its self-test if the local fusion deviation is less than or equal to the standard deviation threshold.

[0099] The reset control device for the automated guided vehicle in this embodiment of the invention can be a device, or a component, integrated circuit, or chip in a terminal. This device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network-attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This embodiment of the invention does not impose specific limitations.

[0100] The reset control device for the automated guided vehicle in this embodiment of the invention can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment of the invention does not impose specific limitations.

[0101] The automatic guided vehicle reset control device provided in this embodiment of the invention can achieve Figures 1 to 3The various processes implemented by the reset control device of the automated guided vehicle in the method embodiment will not be described again here to avoid repetition.

[0102] This invention provides a reset control device for an automated guided vehicle (AGV), comprising: during AGV operation, obtaining fusion algorithm feature parameters and acquiring protective component status parameters based on detection data from laser sensors and odometers; determining a fault state based on the fusion algorithm parameters and status parameters, and executing a matching fault repair strategy; executing a reset verification process after the repair strategy is completed; and clearing the fault state after reset. Through adaptive fault handling, fault handling time is shortened. Reset verification ensures safe and stable resumption of operation after fault resolution, reducing the recurrence rate of faults. This resolves the contradiction between operational efficiency and system safety in traditional AGVs during fault handling, ensuring the overall stability and efficiency of the AGV system.

[0103] This invention also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described embodiments of the automatic guided vehicle reset control method and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0104] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0105] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0107] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A reset control method for an automated guided vehicle, characterized in that, The automated guided vehicle includes a laser sensor, an odometer, and protective components; the method includes: During the operation of the automated guided vehicle, based on the detection data from the laser sensor and the odometer, the fusion algorithm characteristic parameters are obtained through a fusion algorithm, and the status parameters of the protective components are acquired. If a fault state is determined based on the fusion algorithm parameters and the state parameters, a matching fault repair strategy is determined and executed. After the fault repair strategy is completed, a reset verification process is executed. After the reset verification process is completed, the fault status of the automated guided vehicle is cleared.

2. The reset control method for the automated guided vehicle according to claim 1, characterized in that, The step of determining and executing a matching fault repair strategy when a fault state is determined based on the fusion algorithm parameters and the state parameters includes: The fault level of the fault state is determined based on the fusion algorithm parameters and the state parameters. Based on the fault level of the fault state, a matching fault repair strategy is determined and executed.

3. The reset control method for the automated guided vehicle according to claim 2, characterized in that, The fusion algorithm parameters include local fusion bias, global fusion total residual, odometer constraint residual, and closed-loop matching score; the state parameters include trigger state parameters, which characterize whether the protective component is triggered. Determining the fault level of the fault state based on the fusion algorithm parameters and the state parameters includes: If the local fusion deviation is greater than the first deviation threshold for a duration exceeding the first time threshold, and the total global fusion residual is greater than the first residual threshold, or the protective component is triggered, then the fault level is determined to be high level. If the local fusion deviation is less than or equal to the second deviation threshold and the odometer constraint residual is within the odometer residual threshold range, then the fault level is determined to be low; wherein the first deviation threshold is greater than the second deviation threshold. If the local fusion deviation value is greater than the second deviation threshold and less than or equal to the first deviation threshold, or the closed-loop matching score is within the matching score threshold range, the fault level is determined to be medium level.

4. The reset control method for the automated guided vehicle according to claim 3, characterized in that, The step of determining and executing a matching fault repair strategy based on the fault level of the fault state includes: When the fault level is determined to be high, a matching first repair strategy is determined and executed; the first repair strategy is to control the automated guided vehicle to perform an emergency stop operation and generate a first-level alarm message. When the fault level is determined to be low, a matching second repair strategy is determined and executed; the second repair strategy is to maintain the operation of the automated guided vehicle, only display abnormal information in the status list, and perform parameter self-calibration when the automated guided vehicle is idle; When the fault level is determined to be medium, a matching third repair strategy is determined and executed; the third repair strategy is to control the automated guided vehicle to decelerate and start a timed warning. If the vehicle recovers through automatic adjustment within a second time threshold, the warning is canceled; otherwise, the warning is escalated.

5. The reset control method for the automated guided vehicle according to claim 1, characterized in that, Before determining and implementing a matching fault repair strategy, the following steps are also included: Based on the characteristic parameters of the fusion algorithm, the state of the fusion algorithm is determined; and the condition of the roadblock is determined. Based on the state of the fusion algorithm and / or the roadblock situation, execute the corresponding adaptive response strategy.

6. The reset control method for the automated guided vehicle according to claim 5, characterized in that, The fusion algorithm status includes normal fusion, local fusion deviation, and fusion anomaly; the obstacle status includes whether or not an obstacle has been encountered. The step of executing a corresponding adaptive response strategy based on the fusion algorithm state and / or obstacle status includes: When the fusion algorithm is in a normal fusion state and the roadblock condition is an obstacle encountered, the corresponding first adaptive response strategy is executed; the first adaptive response strategy is to control the automated guided vehicle to perform an emergency stop operation. When the fusion algorithm is in a state of local fusion deviation and the obstacle is in a state of no obstacle, the corresponding second adaptive response strategy is executed; the second adaptive response strategy is to automatically adjust the scanning frequency of the laser sensor, control the deceleration of the automated guided vehicle, and adjust the fusion algorithm. When the fusion algorithm is in a fusion abnormality state and the obstacle condition is obstacle-free, the corresponding third adaptive response strategy is executed; the third adaptive response strategy is to load backup parameters and restart the fusion algorithm according to the backup parameters.

7. The reset control method for an automated guided vehicle according to claim 1, characterized in that, The reset verification process includes sequential security verification and fusion verification. After the fault repair strategy is executed, a reset verification process is performed, including: After the fault repair strategy is completed, the safety verification process is executed; the safety verification process is used to verify whether the physical environment of the automated guided vehicle is safe. After executing the security verification process, the fusion verification process is executed; the fusion verification is used to verify whether the fusion accuracy of the fusion algorithm is accurate.

8. The reset control method for an automated guided vehicle according to claim 1, characterized in that, Before obtaining the fusion algorithm feature parameters through the fusion algorithm and obtaining the state parameters of the protective component, the method further includes: Acquire standard coordinate points and standard odometer data; Based on the coordinates of the standard coordinate points, odometer data, and the fusion algorithm, the estimated coordinate points are determined; Based on the estimated coordinate points and standard coordinate points, determine the local fusion deviation; If the local fusion deviation is less than or equal to the standard deviation threshold, the self-test of the automated guided vehicle is determined to be complete.

9. A reset control device for an automated guided vehicle, characterized in that, The automated guided vehicle includes a laser sensor, an odometer, and protective components; the device includes: The parameter acquisition module is used to obtain fusion algorithm feature parameters and the status parameters of the protective components based on the detection data of the laser sensor and the odometer during the operation of the automated guided vehicle. The repair strategy execution module is used to determine and execute a matching fault repair strategy when a fault state is determined based on the fusion algorithm parameters and the state parameters. The verification process execution module is used to execute the reset verification process after the fault repair strategy is completed; The fault status clearing module is used to clear the fault status of the automated guided vehicle after the reset verification process is passed.

10. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the reset control method for the automated guided vehicle as described in claims 1-8.

11. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the reset control method for the automated guided vehicle as described in claims 1-8.

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